CN105923161B - A kind of application drone and its control method - Google Patents
A kind of application drone and its control method Download PDFInfo
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- CN105923161B CN105923161B CN201610376541.3A CN201610376541A CN105923161B CN 105923161 B CN105923161 B CN 105923161B CN 201610376541 A CN201610376541 A CN 201610376541A CN 105923161 B CN105923161 B CN 105923161B
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- 238000000034 method Methods 0.000 title claims description 11
- 239000007921 spray Substances 0.000 claims abstract description 82
- 239000003814 drug Substances 0.000 claims abstract description 57
- 238000003756 stirring Methods 0.000 claims abstract description 34
- 239000000126 substance Substances 0.000 claims abstract description 26
- 238000005507 spraying Methods 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000003028 elevating effect Effects 0.000 claims abstract description 7
- 239000003795 chemical substances by application Substances 0.000 claims description 45
- 238000001514 detection method Methods 0.000 claims description 19
- 238000009472 formulation Methods 0.000 claims description 14
- 239000000203 mixture Substances 0.000 claims description 14
- 238000003825 pressing Methods 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 229940079593 drug Drugs 0.000 abstract description 4
- 239000002917 insecticide Substances 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of application drones, it includes body, 6 rotor mechanisms is uniformly equipped on body, the underpart is equipped with medicine-chest, and wherein medicine-chest is divided into top box and nowel；The top box side wall is equipped with feeding opening, top box bottom center is equipped with medicine outlet, medicament agitating auger paddle is equipped in top box, the connection of the lower end of the agitating auger paddle and agitating shaft, the upper end of the agitating shaft is mounted at top box top center, and agitating shaft upper end is connected with the intracorporal stirring motor of the machine that is mounted on；Medicine spraying tube and spray extension are equipped in the nowel, the medicine spraying tube upper end is connected to the medicine outlet of top box bottom center, which is equipped with farm chemical spray pump and solenoid valve；The medicine spraying tube lower end is equipped with spray extension, and spray extension can be pierced by nowel bottom centre, which connect with the elevating mechanism being mounted on nowel bottom；Spray head is equipped with below the spray extension, unmanned function of the invention is used for Plain, mountain area, and can accurately be administered in wind.
Description
Technical field
The present invention relates to a kind of application drone and its control methods.
Background technique
I belongs to large agricultural country, and farmland planting area is wide, and it is one indispensable that crop, which is sprayed insecticide in agriculture field,
Link.It can be usually administered using manpower in agricultural production, however manpower effectiveness is low, it is at high cost, it is time-consuming and laborious；Some places
It can be sprayed insecticide using ground machine, but China mountain area is more, many places can not be administered using ground machine.
Summary of the invention
It is an object of the invention to: in view of the above problems, a kind of application drone and its control method are provided, this
The unmanned function of invention is used for Plain, mountain area, and the present invention can be such that unmanned plane is accurately administered in wind.
The technical solution adopted by the invention is as follows:
The invention discloses a kind of application drone, it includes body, is uniformly equipped with 6 rotor mechanisms, institute on body
Underpart is stated equipped with medicine-chest, wherein medicine-chest is divided into top box and nowel；The top box side wall is equipped with feeding opening, in top box bottom
It is equipped with medicine outlet at the heart, medicament agitating auger paddle is equipped in top box, the lower end connection of the agitating auger paddle and agitating shaft is described
The upper end of agitating shaft is mounted at top box top center, and agitating shaft upper end is connected with the intracorporal stirring motor of the machine that is mounted on；Institute
It states and is equipped with medicine spraying tube and spray extension in nowel, the medicine spraying tube upper end is connected to the medicine outlet of top box bottom center, should
Medicine spraying tube is equipped with farm chemical spray pump and solenoid valve；The medicine spraying tube lower end is equipped with spray extension, and spray extension can be pierced by down
Case bottom centre, the spray extension are connect with the elevating mechanism being mounted on nowel bottom；It is set below the spray extension
There is spray head.
Due to above structure, due to being equipped with spray extension below medicine spraying tube, when wind is big, spray extension extends, can
It avoids wind from dispelling medicament, can be realized accurate application, which is placed in nowel when shrinking, and can be avoided individually
The length for increasing medicine spraying tube leads to medicine spraying tube collision branch etc. and makes troubles to flight.
Further, the medicine spraying tube lower end is equipped with external screw thread line, and spray extends inside pipe wall and is equipped with internal screw thread, under medicine spraying tube
End is threadedly coupled with spray extension.
Further, the elevating mechanism includes gear-box, worm screw, worm gear and lifting motor；Wherein worm and worm wheel fill
It is located inside gear-box, gear-box is fixed on nowel bottom, and worm screw one end is connected with the lifting motor being fixed on nowel bottom；
Turbine is engaged with worm screw；The shaft of the turbine is spray extension；The spray extension runs through gear-box, and the spray is prolonged
Pipe outer wall is stretched equipped with external screw thread, is threadedly coupled worm gear with spray extension.
Further, the rotor mechanism includes rotor arm, rotor motor and propeller, one end of the rotor arm and machine
Body is connected, and rotor motor is equipped on another section, the output shaft of the rotor motor is installed with propeller straight up and thereon.
Further, the nowel bottom is evenly equipped with 4 idler wheels；Meanwhile nowel bottom is additionally provided with 4 idler wheel accommodating grooves,
When so that idler wheel is at folded state, wherein by idler wheel storage.
Due to above structure, the setting of idler wheel facilitates the carrying of unmanned plane, and when not carrying, idler wheel is folded in accommodating groove
In, facilitate parking for unmanned plane.
Further, control cabinet is equipped with above the body；Control system is equipped in the control cabinet；The control cabinet top
Portion outer surface is equipped with display screen, power switch and control button group.
Further, the control button group includes medicament stirring button, height setting button, speed setting button, applies
Dose sets button, delivery rate setting button and the button that takes off.
A kind of the step of control method of application drone, the control method, is as follows:
Step 1: startup power supply switch connects main controller and power module, keeps main controller in running order；
Step 2: medicament is injected into top box by the feeding opening of top box；
Step 3: agent capacity detection module detects the agent capacity in top box, and the current agent capacity value that will test
A1 is sent to main controller, and main controller receives current agent capacity value A1 and current agent capacity value A1 is sent to display screen display
Show；
When the current agent capacity value A1 that agent capacity detection module detects is less than the setting agent capacity in main controller
When value A, agent capacity shortage signal can be shown on display screen；
When the current agent capacity value A1 that agent capacity detection module detects is greater than the setting agent capacity in main controller
It can show that agent capacity crosses multi signal when value A, on display screen；
Step 4: pressing medicament stirring button, send medicament to main controller and stir signal, main controller receives medicament stirring letter
After number, and stirring motor drive module is sent the signal to, makes the control stirring motor work of stirring motor drive module, in turn
Medicament is stirred, is stopped after stirring 3~10min；
Step 5: press height setting button, set flying height, will set altitude value H, be sent to main controller into
Row storage；
Step 6: pressing speed setting button, set flying speed, and flying speed value V will be set, be sent to main controller
It is stored；
Step 7: press formulation rate setting button, set formulation rate, and will setting application magnitude M, be sent to main controller into
Row storage；
Step 8: pressing delivery rate setting button, set delivery rate, and delivery rate value L will be set, be sent to master
Control device is stored；
Step 9: pressing the button that takes off, main controller receives the signal that takes off for button transmission of taking off, and the signal transmission that will take off
Rotor motor drive module is given, makes the control rotor motor rotation of rotor motor drive module, and then control unmanned plane during flying；Nobody
Machine first takes off vertically, when height detection module detects that the current flying altitude H1 of unmanned plane reaches setting height value H, nobody
Machine starts again by setting speed value V flight forward；
Step 10: in flight course, main controller sends application signal respectively and drives to farm chemical spray pump drive module and solenoid valve
Dynamic model block makes the control of farm chemical spray pump drive module touch Teat pipette and determine delivery rate value L and is administered, keeps solenoid valve driving module control electric
Magnet valve is opened；And then unmanned plane is made to start to be administered；
Step 11: during application, wind speed measurement module detects current wind speed u1, and current wind speed u1 is sent to master
Device is controlled, when the current wind speed u1 checked is greater than wind speed setting u, main controller transmission stretches pipe signal and drives mould to lifting motor
Block, and then control lifting motor and rotate forward, extend downwardly spray extension, while main controller sends and accelerates application signal to spray
Drive module is pumped, current delivery rate L1=1.5L is made；Current flying altitude value H1=1/2H is controlled simultaneously;It is current when what is detected
When wind speed u1 is less than or equal to wind speed setting u, lifting motor reversion, spray extension resets, current flying altitude value H1=H, when
Preceding delivery rate L1=L；
Step 12: when agent capacity detection module detects that current formulation rate M1 is equal to setting formulation rate M, main controller point
It Fa Song not stop being administered signal to farm chemical spray pump drive module and solenoid valve driving module, farm chemical spray pump drive module is made to control farm chemical spray pump
It stops working, closes solenoid valve driving module control solenoid valve；And then unmanned plane is set to stop application, while unmanned plane being allowed to return
Starting point.
Step 13: unmanned plane first keep setting height value H to starting point return, then land again, until current level value H1=
When 0, rotor motor stops operating；In return course, wind speed measurement module from service；
Step 14: stopping power switch, disconnect power module and main controller.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
The present invention can facilitate application, improve spray pattern, and time saving and energy saving and of the invention application drone can have
It accurately sprays in wind environment.
Control system and control method of the invention can be realized the automatic application of application drone, time saving and energy saving, reinforce
The accuracy that unmanned plane sprays in wind.
The configuration of the present invention is simple, it is practical, convenient for promoting and using.
Detailed description of the invention
Fig. 1 is structure chart of the invention.
Specific embodiment
With reference to the accompanying drawing, the present invention is described in detail.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of application drone, it includes body 1, is uniformly equipped with 6 rotor mechanisms, 1 lower part of body on body 1
Equipped with medicine-chest 13, wherein medicine-chest is divided into top box 14 and nowel 12；14 side wall of top box is equipped with feeding opening, in 14 bottom of top box
It is equipped with medicine outlet at the heart, is equipped with medicament agitating auger paddle 2 in top box 14, the agitating auger paddle 2 is connect with the lower end of agitating shaft,
The upper end of the agitating shaft is mounted at top box top center, and agitating shaft upper end and the stirring motor 17 being mounted in body 1
It is connected；Medicine spraying tube 11 and spray extension 7,11 upper end of medicine spraying tube and 14 bottom center of top box are equipped in the nowel 12
Medicine outlet connection, the medicine spraying tube be equipped with farm chemical spray pump 3 and solenoid valve 4；11 lower end of medicine spraying tube is equipped with spray extension 7,
Spray extension 7 can be pierced by 12 bottom centre of nowel, the spray extension 7 and the elevating mechanism being mounted on 12 bottom of nowel
Connection；Spray head is equipped with below the spray extension 7.
11 lower end of medicine spraying tube be equipped with external screw thread line, spray 7 inner wall of extension be equipped with internal screw thread, 11 lower end of medicine spraying tube with
The extension 7 that sprays is threadedly coupled.
The elevating mechanism includes gear-box 5, worm screw 8, worm gear 6 and lifting motor 9；Wherein worm screw 8 and worm gear 6 are installed in
Inside gear-box 5, gear-box 5 is fixed on 12 bottom of nowel, 8 one end of worm screw and the lifting motor 9 being fixed on 12 bottom of nowel
It is connected；Turbine 6 is engaged with worm screw 8；The shaft of the turbine 6 is spray extension 7；The spray extension 7 runs through gear-box
5,7 outer wall of spray extension is equipped with external screw thread, is threadedly coupled worm gear 6 with spray extension 7.
The thread rotary orientation of the medicine spraying tube, spray extension and each threaded connection place of worm gear is all the same.
The rotor mechanism includes rotor arm 15, rotor motor and propeller 16, one end of the rotor arm 15 and body
It is connected, rotor motor is installed, the output shaft of the rotor motor is installed with propeller 16 straight up and thereon on another section.
12 bottom of nowel is evenly equipped with 4 idler wheels 10；Meanwhile 12 bottom of nowel is additionally provided with 4 idler wheel accommodating grooves, so that
When idler wheel is at folded state, wherein by the storage of idler wheel 10.
It is that idler wheel can be unfolded, and then brought convenience to carry when unmanned plane needs to carry, when not carrying, idler wheel storage
In idler wheel accommodating groove, convenient for the storage of unmanned plane.
Control cabinet 18 is equipped with above the body 1；Control system is equipped in the control cabinet 18；18 top of control cabinet
Outer surface is equipped with display screen, power switch and control button group.
The control system includes main controller, and connector has control button group, display screen, agent capacity on the main controller
Detection module, height detection module, wind speed measurement module, rotor motor drive module, stirring motor drive module, lifting motor
Drive module, solenoid valve driving module, farm chemical spray pump drive module；Wherein rotor motor drive module is connected with rotor motor, stirs
It mixes motor drive module to be connected with stirring motor 17, lifting motor drive module is connected with lifting motor 9；The main controller passes through
Power switch is connected with power module, and solenoid valve driving module is connected with solenoid valve 4, the spring drive module that sprays and 3 phase of farm chemical spray pump
Even.
The control button group includes medicament stirring button, height setting button, speed sets button, formulation rate setting is pressed
Button, delivery rate setting button and the button that takes off.
A kind of the step of control method of application drone, the control method, is as follows:
Step 1: startup power supply switch connects main controller and power module, keeps main controller in running order；
Step 2: medicament is injected into top box 14 by the feeding opening of top box 14；
Step 3: agent capacity detection module detects the agent capacity in top box 14, and the current agent capacity that will test
Value A1 is sent to main controller, and main controller receives current agent capacity value A1 and current agent capacity value A1 is sent to display screen display
Show；
When the current agent capacity value A1 that agent capacity detection module detects is less than the setting agent capacity in main controller
When value A, agent capacity shortage signal can be shown on display screen；
When the current agent capacity value A1 that agent capacity detection module detects is greater than the setting agent capacity in main controller
It can show that agent capacity crosses multi signal when value A, on display screen；
Step 4: pressing medicament stirring button, send medicament to main controller and stir signal, main controller receives medicament stirring letter
After number, and stirring motor drive module is sent the signal to, makes the control stirring motor work of stirring motor drive module, in turn
Medicament is stirred, is stopped after stirring 3~10min；
Step 5: press height setting button, set flying height, will set altitude value H, be sent to main controller into
Row storage；
Step 6: pressing speed setting button, set flying speed, and flying speed value V will be set, be sent to main controller
It is stored；
Step 7: press formulation rate setting button, set formulation rate, and will setting application magnitude M, be sent to main controller into
Row storage；
Step 7: pressing delivery rate setting button, set delivery rate, and delivery rate value L will be set, be sent to master
Control device is stored；
Step 8: pressing the button that takes off, main controller receives the signal that takes off for button transmission of taking off, and the signal transmission that will take off
Rotor motor drive module is given, makes the control rotor motor rotation of rotor motor drive module, and then control unmanned plane during flying；Nobody
Machine first takes off vertically, when height detection module detects that the current flying altitude H1 of unmanned plane reaches setting height value H, nobody
Machine starts again by setting speed value V flight forward；
Step 9: in flight course, main controller sends application signal to farm chemical spray pump drive module and solenoid-driven respectively
Module makes the control of farm chemical spray pump drive module touch Teat pipette and determine delivery rate value L and is administered, and makes solenoid valve driving module control electromagnetism
Valve is opened；And then unmanned plane is made to start to be administered.
Step 10: during application, wind speed measurement module detects current wind speed u1, and current wind speed u1 is sent to master
Device is controlled, when the current wind speed u1 checked is greater than wind speed setting u, main controller transmission stretches pipe signal and drives mould to lifting motor
Block, and then control lifting motor 9 and rotate forward, extend downwardly spray extension 7, while main controller sends and accelerates application signal to spray
Teat pipette drive module makes current delivery rate L1=1.5L；Current flying altitude value H1=1/2H is controlled simultaneously;When what is detected works as
When preceding wind speed u1 is less than or equal to wind speed setting u, lifting motor 9 is inverted, and spray extension 7 resets, and current flying altitude value H1=
H, current delivery rate L1=L；
Due to the step, unmanned plane can be accurately administered in wind, and wind is avoided to dispel medicament.
Step 11: when agent capacity detection module detects that current formulation rate M1 is equal to setting formulation rate M, main controller point
It Fa Song not stop being administered signal to farm chemical spray pump drive module and solenoid valve driving module, farm chemical spray pump drive module is made to control farm chemical spray pump
It stops working, closes solenoid valve driving module control solenoid valve；And then unmanned plane is set to stop application, while unmanned plane being allowed to return
Starting point.
Step 12: unmanned plane first keep setting height value H to starting point return, then land again, until current level value H1=
When 0, rotor motor stops operating；In return course, wind speed measurement module from service；
Step 13: stopping power switch, disconnect power module and main controller.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (2)
1. a kind of application drone, characterized in that it includes body, is uniformly equipped with 6 rotor mechanisms, the body on body
Lower part is equipped with medicine-chest, and wherein medicine-chest is divided into top box and nowel；The top box side wall is equipped with feeding opening, and top box bottom center is set
There is medicine outlet, medicament agitating auger paddle, the lower end connection of the agitating auger paddle and agitating shaft, the agitating shaft are equipped in top box
Upper end be mounted at top box top center, and agitating shaft upper end is connected with the intracorporal stirring motor of the machine that is mounted on；The nowel
Interior to be equipped with medicine spraying tube and spray extension, the medicine spraying tube upper end is connected to the medicine outlet of top box bottom center, the medicine spraying tube
It is equipped with farm chemical spray pump and solenoid valve；The medicine spraying tube lower end is equipped with spray extension, and spray extension can be pierced by nowel bottom
Center, the spray extension are connect with the elevating mechanism being mounted on nowel bottom；Spray head is equipped with below the spray extension；
The medicine spraying tube lower end is equipped with external screw thread, and spray extends inside pipe wall and is equipped with internal screw thread, medicine spraying tube lower end and spray extension
It is threadedly coupled；
The elevating mechanism includes gear-box, worm screw, worm gear and lifting motor；Wherein worm and worm wheel are installed in gear-box
Portion, gear-box are fixed on nowel bottom, and worm screw one end is connected with the lifting motor being fixed on nowel bottom；Worm gear is nibbled with worm screw
It closes；The shaft of the worm gear is spray extension；The spray extension runs through gear-box, and the spray extends pipe outer wall and is equipped with
External screw thread is threadedly coupled worm gear with spray extension；
The rotor mechanism includes rotor arm, rotor motor and propeller, and one end of the rotor arm is connected with body, the other end
On rotor motor is installed, the output shaft of the rotor motor is installed with propeller straight up and thereon；
Control cabinet is equipped with above the body；Control system is equipped in the control cabinet；The control cabinet outer surface of cupular part is equipped with
Display screen, power switch and control button group；
The control system includes main controller, and control button group, display screen, agent capacity detection mould are connected on the main controller
Block, height detection module, wind speed measurement module, rotor motor drive module, stirring motor drive module, lifting motor drive mould
Block, solenoid valve driving module, farm chemical spray pump drive module；Wherein rotor motor drive module is connected with rotor motor, stirring motor
Drive module is connected with stirring motor, and lifting motor drive module is connected with lifting motor；The main controller passes through power switch
It is connected with power module, solenoid valve driving module is connected with solenoid valve, and farm chemical spray pump drive module is connected with farm chemical spray pump；
The control button group include medicament stirring button, height setting button, speed setting button, formulation rate setting button,
Delivery rate setting button and the button that takes off；
The control method of the application drone includes the following steps:
Step 1: startup power supply switch connects main controller and power module, keeps main controller in running order；
Step 2: medicament is injected into top box by the feeding opening of top box；
Step 3: agent capacity detection module detects the agent capacity in top box, and the current agent capacity value A1 hair that will test
Main controller is given, main controller receives current agent capacity value A1 and current agent capacity value A1 is sent to display screen and shows；
When the current agent capacity value A1 that agent capacity detection module detects is less than the setting agent capacity value A in main controller
When, agent capacity shortage signal can be shown on display screen；
When the current agent capacity value A1 that agent capacity detection module detects is greater than the setting agent capacity value A in main controller
When, it can show that agent capacity crosses multi signal on display screen；
Step 4: medicament stirring button is pressed, medicament is sent to main controller and stirs signal, after main controller receives medicament stirring signal,
And stirring motor drive module is sent the signal to, make the control stirring motor work of stirring motor drive module, and then to medicine
Agent is stirred, and is stopped after stirring 3~10min；
Step 5: pressing height setting button, set flying height, altitude value H will be set, be sent to main controller and deposited
Storage；
Step 6: pressing speed setting button, set flying speed, and flying speed value V will be set, be sent to main controller progress
Storage；
Step 7: pressing formulation rate setting button, set formulation rate, and setting is administered magnitude M, be sent to main controller and deposited
Storage；
Step 8: pressing delivery rate setting button, set delivery rate, and delivery rate value L will be set, be sent to main controller
It is stored；
Step 9: pressing the button that takes off, main controller receives the signal that takes off for button transmission of taking off, and the signal that will take off is sent to rotation
Wing motor drive module makes the control rotor motor rotation of rotor motor drive module, and then controls unmanned plane during flying；Unmanned plane is first
It takes off vertically, when height detection module detects that the current flying altitude H1 of unmanned plane reaches setting height value H, unmanned plane is again
Start by setting speed value V flight forward；
Step 10: in flight course, main controller sends application signal to farm chemical spray pump drive module and solenoid-driven mould respectively
Block is administered farm chemical spray pump drive module control farm chemical spray pump with the delivery rate value L set, makes solenoid valve driving module control
Solenoid valve is opened；And then unmanned plane is made to start to be administered；
Step 11: during application, wind speed measurement module detects current wind speed u1, and current wind speed u1 is sent to master control
Device, when the current wind speed u1 checked is greater than wind speed setting u, main controller transmission stretches pipe signal and gives lifting motor drive module,
And then control lifting motor and rotate forward, extend downwardly spray extension, while main controller sends and accelerates application signal to farm chemical spray pump
Drive module makes current delivery rate L1=1.5L；Current flying altitude value H1=1/2H is controlled simultaneously;When the current wind detected
When fast u1 is less than or equal to wind speed setting u, lifting motor reversion, spray extension resets, current flying altitude value H1=H, currently
Delivery rate L1=L；
Step 12: when agent capacity detection module detects that current formulation rate M1 is equal to setting formulation rate M, main controller is sent out respectively
It send stopping application signal to farm chemical spray pump drive module and solenoid valve driving module, stops farm chemical spray pump drive module control farm chemical spray pump
Work closes solenoid valve driving module control solenoid valve；And then unmanned plane is set to stop application, while unmanned plane being allowed to return
Point；
Step 13: unmanned plane first keeps setting height value H to return to starting point, then lands again, when current level value H1=0,
Rotor motor stops operating；In return course, wind speed measurement module from service；
Step 14: stopping power switch, disconnect power module and main controller.
2. a kind of application drone according to claim 1, characterized in that the nowel bottom is evenly equipped with 4 idler wheels；Together
When, nowel bottom is additionally provided with 4 idler wheel accommodating grooves, when so that idler wheel is at folded state, wherein by idler wheel storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610376541.3A CN105923161B (en) | 2016-05-31 | 2016-05-31 | A kind of application drone and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610376541.3A CN105923161B (en) | 2016-05-31 | 2016-05-31 | A kind of application drone and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN105923161A CN105923161A (en) | 2016-09-07 |
| CN105923161B true CN105923161B (en) | 2019-03-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3455133A4 (en) * | 2017-03-03 | 2019-05-29 | SZ DJI Technology Co., Ltd. | Windproof aerial dispensing method and system |
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| CN108464289A (en) * | 2018-03-19 | 2018-08-31 | 清远市巨劲科技有限公司 | A kind of medicine-chest of the plant protection drone convenient for stirring |
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